CN116198703A - Deep sea long-standing type submarine environment mobile monitoring platform - Google Patents
Deep sea long-standing type submarine environment mobile monitoring platform Download PDFInfo
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- CN116198703A CN116198703A CN202310484516.7A CN202310484516A CN116198703A CN 116198703 A CN116198703 A CN 116198703A CN 202310484516 A CN202310484516 A CN 202310484516A CN 116198703 A CN116198703 A CN 116198703A
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- fixedly connected
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
- B60F3/0015—Arrangement of propulsion or steering means on amphibious vehicles comprising tracks specially adapted therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
Abstract
The invention discloses a deep sea long-standing submarine environment mobile monitoring platform in the technical field of submarine monitoring, which comprises a monitoring platform, wherein two fixed frames are symmetrically and fixedly connected to the left side and the right side of the surface of the monitoring platform, and crawler wheels are symmetrically arranged on the left side and the right side of the monitoring platform; a first driving mechanism is arranged in the fixed frame and is used for driving the crawler wheel to rotate; the monitoring platform is internally provided with an inner cavity, and the inner cavity is internally provided with a detection mechanism and a second driving mechanism, wherein the detection mechanism is used for detecting whether the monitoring platform is overturned or not; the second driving mechanism is used for driving the first driving mechanism to operate, and driving the crawler wheels on the left side and the right side to move to a position close to the ground after the detection mechanism detects that the monitoring platform is overturned, and finally supporting the monitoring platform; the device simple structure, convenient to use can turn over at the monitoring platform, adjusts the position of track wheel automatically, under the condition that does not influence the sea water turbidity around, can make the monitoring platform can continue the mobile monitoring.
Description
Technical Field
The invention relates to the technical field of submarine monitoring, in particular to a deep-sea long-residence type submarine environment mobile monitoring platform.
Background
The deep sea ecological environment monitoring is mainly a monitoring and investigation activity conducted around the ecological health characterization content of water bodies, sediments, organisms, hydrology and the like under the typical background of the seabed. Deep sea typical habitat ecological environment monitoring is an important means and measure for marine ecological environment protection, marine environment management and submarine mineral resource development. Long-term monitoring of the submarine environment requires setting a stagnation point on the seabed and operating a mobile monitoring platform to monitor the submarine based on the stagnation point.
Because the typical environmental areas such as deep sea polymetallic crust, hydrothermal solution, tuberculosis and the like have complex topography, the population and the quantity of the submarine organisms in different areas are also relatively large, and the monitoring platform is easy to fall over to the ground due to uneven topography, overlarge underflow or submarine organism impact when moving on the seabed, so that the mobile monitoring cannot be continuously carried out. Under the condition, the monitoring platform is controlled to turn back through the underwater robot manipulator, or the monitoring platform is pushed up by generating thrust in a drainage mode of the monitoring platform, so that the turning effect is achieved, and seawater nearby the monitoring platform can be caused to flow when the seabed is turned over, so that seabed sediment is diffused, the seawater in the area becomes turbid, and the monitoring effect of the monitoring platform is affected.
Disclosure of Invention
The invention aims to provide a deep-sea long-residence type submarine environment mobile monitoring platform so as to solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: the deep sea long-standing type submarine environment mobile monitoring platform comprises a monitoring platform, wherein two fixed frames are symmetrically and fixedly connected to the left side and the right side of the surface of the monitoring platform, and crawler wheels are symmetrically arranged on the left side and the right side of the monitoring platform; a first driving mechanism is arranged in the fixed frame and used for driving the crawler wheel to rotate; an inner cavity is formed in the monitoring platform, a detection mechanism and a second driving mechanism are arranged in the inner cavity, and the detection mechanism is used for detecting whether the monitoring platform is overturned or not; the second driving mechanism is used for driving the first driving mechanism to operate, and after the detecting mechanism detects that the monitoring platform is overturned, the crawler wheels on the left side and the right side are driven to move to a position close to the ground, and finally the monitoring platform is supported.
The first driving mechanism comprises a rotating rod, the rotating rod is positioned in the fixed frame, and the upper end and the lower end of the rotating rod are symmetrically and fixedly connected with a first bevel gear; the middle part of the rotating rod is fixedly connected with a second bevel gear; the upper end and the lower end of the rotating rod are symmetrically and rotatably connected with a first sliding frame, and the first sliding frame is in sliding connection with the fixed frame; the rotating shafts on the front side and the rear side of the crawler wheel are coaxially and fixedly connected with third bevel gears, and the third bevel gears on the front side and the rear side are respectively meshed with first bevel gears on the front side and the rear side.
The second driving mechanism comprises two motors and two fixing frames, the two fixing frames are distributed at the left side and the right side of the middle of the inner cavity, and the two fixing frames are fixedly connected with the inner wall of the inner cavity; the two motors are respectively connected with the two fixing frames in a sliding way; the surface of the motor is fixedly connected with a first connecting frame, the left end of the left motor output shaft and the right end of the right motor output shaft are fixedly connected with first synchronous wheels, and the surface of the first synchronous wheels is provided with a synchronous belt; the front side and the rear side of the surface of the first connecting frame are symmetrically and rotationally connected with second synchronous wheels, and the synchronous belt is simultaneously rotationally connected with the first synchronous wheels and the two second synchronous wheels.
A groove is formed in one side, close to the monitoring platform, of the surface of the fixed frame, a fourth bevel gear is arranged in the groove, a second connecting frame is rotatably connected to the surface of the fourth bevel gear, and the second connecting frame is rotatably connected with the rotating rod; the fourth bevel gear is meshed with the second bevel gear, one end of the fourth bevel gear, which is close to the monitoring platform, is fixedly connected with one end of a worm, and the other end of the worm is fixedly connected with the second synchronous wheel; the surface of the worm is provided with a transposition mechanism which is used for replacing the crawler wheels at the upper side and the lower side of the monitoring platform.
The transposition mechanism comprises two incomplete worm gears which are symmetrically distributed at the upper and lower positions of the side surface of the monitoring platform, and the two incomplete worm gears are both in rotary connection with the monitoring platform; one end of each connecting rod is coaxially and fixedly connected with the two incomplete worm gears, and the other ends of the two connecting rods are rotationally connected with the crawler wheels; the worm is positioned between the two incomplete worm gears and is alternately meshed with the two incomplete worm gears; the two connecting rods are equal in length and parallel to each other.
The detection mechanism comprises eight threaded rods, the eight threaded rods are uniformly distributed at four corner positions of the monitoring platform, and two threaded rods positioned at the corner positions are positioned at the front side and the rear side of the worm; the threaded rod is rotationally connected with the monitoring platform; the surface of the worm is rotationally connected with a rotating frame, and the rotating frame is simultaneously rotationally connected with threaded rods positioned on two sides of the worm; the threaded rod does not have self-locking property, and the upper end and the lower end of the threaded rod are fixedly connected with first ratchet wheels; the surfaces of the two first ratchet wheels on the upper side and the lower side are respectively meshed with a first pawl, and the rotatable directions of the first ratchet wheels on the upper side and the lower side are opposite to those of the first ratchet wheels after the first ratchet wheels on the upper side and the lower side are meshed with the first pawls; the upper side and the lower side of the monitoring platform are symmetrically provided with second sliding frames at the positions of the first pawls, the second sliding frames are fixedly connected with the two first pawls, and the second sliding frames are in sliding connection with the monitoring platform; one end of a first spring is fixedly connected to the surface of the second sliding frame, and the other end of the first spring is fixedly connected with the monitoring platform.
The monitoring platform is positioned at the inner side of the second sliding frame and is connected with two sliding rods in a sliding manner, the upper end and the lower end of each sliding rod are fixedly connected with extrusion blocks, and the extrusion blocks on the upper side and the lower side alternately extrude the second sliding frame at the upper side and the lower side; the inside of the extrusion block is fixedly connected with a water pipe, the upper end and the lower end of the water pipe respectively penetrate through the extrusion blocks on the upper side and the lower side, the upper end and the lower end of the water pipe are fixedly connected with floating balls, and the floating balls are hollow and are communicated with the water pipe; the bottom position is that the interior of the floating ball contains water and the water fills the interior space of the floating ball.
The surface of the rotating frame is fixedly connected with a connecting rod, the upper side and the lower side of the connecting rod are symmetrically and slidingly connected with a first push plate, the upper side surface and the lower side surface of the first push plate on the upper side and the lower side are respectively and fixedly connected with one end of a second spring, and the other end of the second spring is fixedly connected with the connecting rod; a second ratchet wheel is coaxially and fixedly connected between the incomplete worm wheel and the connecting rod; two second pawls are arranged between the second ratchet wheels on the upper side and the lower side, the two second pawls are respectively meshed with the second ratchet wheels on the upper side and the lower side, and the directions of rotation of the second ratchet wheels on the upper side and the lower side are opposite when the second ratchet wheels on the upper side and the lower side are meshed with the second pawls; the second pawls on the upper side and the lower side are close to one another, one end of each second pawl is fixedly connected with one end of a telescopic rod, and the other end of each telescopic rod is fixedly connected with the monitoring platform; the second pawl surface is fixedly connected with a second push plate, the distance between the second push plates on the upper side and the lower side is larger than the distance between the two first push plates, and the second push plate is attached to the first push plates; the telescopic rod has elasticity, and the elasticity of telescopic rod is less than the elasticity of first spring.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the second driving mechanism is started, the second driving mechanism drives the crawler wheels on the left side and the right side to rotate through the first driving mechanism, and the crawler wheels drive the monitoring platform to start to move outwards from the residence point when rotating; in the process of mobile monitoring, when the monitoring platform is overturned due to the ground potential or the collision of the marine organisms, the monitoring platform can be directly detected to be in the overturned state through the detection mechanism, then the detection mechanism can enable the second driving mechanism to drive the crawler wheels positioned at the upper side of the monitoring platform to move downwards at the moment, the crawler wheels slowly move downwards, so that the water flowing amplitude around the monitoring platform can be effectively reduced, and the situation that the seawater around the monitoring platform becomes turbid can be avoided; when the crawler wheel moves to a position contacting with the seabed, the second driving mechanism continuously drives the crawler wheel to move downwards relative to the monitoring platform, the crawler wheel can directly support the monitoring platform slowly, and when the monitoring platform is stably supported, the second driving mechanism continuously drives the crawler wheel to rotate through the first driving mechanism, and the monitoring platform continuously moves for monitoring; the device simple structure, convenient to use can turn over at the monitoring platform, adjusts the position of track wheel automatically, under the condition that does not influence the sea water turbidity around, can make the monitoring platform can continue the mobile monitoring.
According to the invention, after the monitoring platform is overturned, the extrusion blocks on the upper side and the lower side are driven to move upwards by utilizing the buoyancy of the buoy, the extrusion blocks on the upper side and the lower side can drive the first pawl on the upper side to be meshed with the first ratchet wheel on the upper side and the first pawl on the lower side to be separated from the first ratchet wheel on the lower side, so that the sliding frame and the worm can move downwards under the action of gravity, and meanwhile, the worm can move to a position meshed with the incomplete worm wheel on the lower side to remain motionless, so that the incomplete worm wheel can be stably driven to rotate by the worm, and the crawler wheel can be driven to slowly move downwards by the connecting rod and support the monitoring platform when the incomplete worm wheel rotates; the device can automatically adjust the position of the crawler wheel after the monitoring platform is overturned, so that the monitoring platform can continuously work under the condition of a robot under no water, and meanwhile, the surrounding water of the monitoring platform can be prevented from becoming turbid to the greatest extent.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic diagram of a split structure of the present invention;
FIG. 3 is a schematic view of a crawler wheel according to the present invention;
FIG. 4 is a schematic structural view of a fixing frame according to the present invention;
FIG. 5 is a schematic cross-sectional view of the front view of the monitor platform of the present invention;
FIG. 6 is an enlarged schematic view of the structure of FIG. 5A;
FIG. 7 is an enlarged schematic view of the structure of FIG. 5B;
FIG. 8 is a schematic cross-sectional view of a top view of a monitor platform according to the present invention;
FIG. 9 is an enlarged schematic view of the structure of FIG. 8C;
FIG. 10 is a schematic view of a slide bar according to the present invention.
In the drawings, the list of components represented by the various numbers is as follows:
1. monitoring a platform; 2. a fixed frame; 3. track wheels; 4. an inner cavity; 5. a rotating lever; 6. a first bevel gear; 7. a second bevel gear; 8. a first carriage; 9. a third bevel gear; 10. a motor; 11. a fixing frame; 12. a first connection frame; 13. a first synchronizing wheel; 14. a synchronous belt; 15. a second synchronizing wheel; 16. a groove; 17. a fourth bevel gear; 18. a second connecting frame; 19. a worm; 20. an incomplete worm gear; 21. a connecting rod; 22. a threaded rod; 23. a rotating frame; 24. a first ratchet; 25. a first pawl; 26. a second carriage; 27. a first spring; 28. a slide bar; 29. extruding a block; 30. a water pipe; 31. a floating ball; 32. a connecting rod; 33. a first push plate; 34. a second spring; 35. a second ratchet; 36. a telescopic rod; 37. a second push plate; 38. and a second pawl.
Detailed Description
Referring to fig. 1 to 10, the present invention provides a technical solution: the deep sea long-standing type submarine environment mobile monitoring platform comprises a monitoring platform 1, wherein two fixed frames 2 are symmetrically and fixedly connected to the left side and the right side of the surface of the monitoring platform 1, and crawler wheels 3 are symmetrically arranged on the left side and the right side of the monitoring platform 1; a first driving mechanism is arranged in the fixed frame 2 and is used for driving the crawler wheel 3 to rotate; an inner cavity 4 is formed in the monitoring platform 1, a detection mechanism and a second driving mechanism are arranged in the inner cavity 4, and the detection mechanism is used for detecting whether the monitoring platform 1 is overturned or not; the second driving mechanism is used for driving the first driving mechanism to operate, and after the detecting mechanism detects that the monitoring platform 1 is overturned, the crawler wheels 3 on the left side and the right side are driven to move to a position close to the ground, and finally the monitoring platform 1 is supported;
when the system works, a stagnation point is usually set on the seabed during monitoring the submarine environment, and then a mobile monitoring platform is operated from the stagnation point to monitor the submarine environment; because the topography of the seabed is complex, simultaneously the population and the quantity of the submarine organisms are more, the monitoring platform is easy to overturn due to uneven topography, overlarge bottom flow or collision of the submarine organisms when the seabed moves, and the mobile monitoring platform cannot continue to move for monitoring after the mobile monitoring platform overturns on the ground, under the condition, the monitoring platform is controlled to overturn back through an underwater robot manipulator or to push the monitoring platform by the thrust generated by drainage, the overturning effect is completed, and the seawater near the monitoring platform can be caused to flow when the seabed overturns, so that the seabed sediment is diffused, the sea water in the area becomes turbid, and the monitoring effect of the monitoring platform is influenced. When the device needs to monitor the submarine environment, a second driving mechanism is started, the second driving mechanism drives the crawler wheels 3 on the left side and the right side to rotate through the first driving mechanism, and the crawler wheels 3 drive the monitoring platform 1 to start to move outwards from the stagnation point when rotating; in the process of mobile monitoring, when the monitoring platform 1 is overturned due to the topography or the collision of the marine organisms, the monitoring platform 1 can be directly detected to be in an overturned state by the detection mechanism, then the detection mechanism can enable the second driving mechanism to drive the crawler wheel 3 positioned at the upper side of the monitoring platform 1 to move downwards at the moment, the crawler wheel 3 slowly moves downwards, so that the water flowing amplitude around the monitoring platform 1 can be effectively reduced, and the seawater around the monitoring platform 1 can be prevented from becoming turbid; when the crawler wheel 3 moves to a position contacting with the seabed, the second driving mechanism continuously drives the crawler wheel 3 to move downwards relative to the monitoring platform 1, the crawler wheel 3 directly supports the monitoring platform 1 slowly, and when the monitoring platform 1 is stably supported, the second driving mechanism continuously drives the crawler wheel 3 to rotate through the first driving mechanism, and the monitoring platform 1 continuously moves for monitoring; the device simple structure, convenient to use can turn over at monitoring platform 1, adjusts the position of crawler wheel 3 automatically, under the condition that does not influence the sea water turbidity around, can make monitoring platform 1 can continue the mobile monitoring.
As a further scheme of the invention, the first driving mechanism comprises a rotating rod 5, the rotating rod 5 is positioned in the fixed frame 2, and the upper end and the lower end of the rotating rod 5 are symmetrically and fixedly connected with a first bevel gear 6; the middle part of the rotating rod 5 is fixedly connected with a second bevel gear 7; the upper end and the lower end of the rotating rod 5 are symmetrically and rotatably connected with a first sliding frame 8, and the first sliding frame 8 is in sliding connection with the fixed frame 2; the rotating shafts at the front side and the rear side of the interior of the crawler wheel 3 are coaxially and fixedly connected with third bevel gears 9, and the third bevel gears 9 at the front side and the rear side are respectively meshed with the first bevel gears 6 at the front side and the rear side; when the crawler wheel 3 is required to be driven to rotate in operation, the second bevel gear 7 is driven to rotate to drive the rotating rod 5 to rotate, the rotating rod 5 drives the first bevel gears 6 on the upper side and the lower side to rotate when rotating, and the first bevel gear 6 on the lower side drives the third bevel gear 9 meshed with the first bevel gear 6 to rotate when rotating; the third bevel gears 9 on the front side and the rear side respectively drive the rotating shafts on the front side and the rear side in the crawler wheel 3 to rotate when rotating, and drive the crawler wheel 3 to start transmission when rotating, so that the monitoring platform 1 can be driven to start moving monitoring.
As a further scheme of the invention, the second driving mechanism comprises two motors 10 and two fixing frames 11, the two fixing frames 11 are distributed at the left side and the right side of the middle part of the inner cavity 4, and the two fixing frames 11 are fixedly connected with the inner wall of the inner cavity 4; the two motors 10 are respectively connected with the two fixing frames 11 in a sliding way; the surface of the motor 10 is fixedly connected with a first connecting frame 12, the left end of the output shaft of the left motor 10 and the right end of the output shaft of the right motor 10 are fixedly connected with a first synchronous wheel 13, and the surface of the first synchronous wheel 13 is provided with a synchronous belt 14; the front side and the back side of the surface of the first connecting frame 12 are symmetrically and rotationally connected with second synchronous wheels 15, and a synchronous belt 14 is simultaneously rotationally connected with the first synchronous wheel 13 and the two second synchronous wheels 15; when the synchronous belt is in operation, the two motors 10 are started to respectively drive the first synchronous wheels 13 on the left side and the right side to rotate, and when the first synchronous wheels 13 rotate, the corresponding two second synchronous wheels 15 are driven to synchronously rotate through the synchronous belt 14; when the motor 10 slides up and down in the fixing frame 11, the motor 10 drives the second synchronizing wheel 15 to move up and down simultaneously through the first connecting frame 12 connected with the motor 10.
As a further scheme of the invention, a groove 16 is formed on one side, close to the monitoring platform 1, of the surface of the fixed frame 2, a fourth bevel gear 17 is arranged in the groove 16, a second connecting frame 18 is rotatably connected to the surface of the fourth bevel gear 17, and the second connecting frame 18 is rotatably connected with the rotating rod 5; the fourth bevel gear 17 is meshed with the second bevel gear 7, one end of the fourth bevel gear 17, which is close to one end of the monitoring platform 1, is fixedly connected with one end of the worm 19, and the other end of the worm 19 is fixedly connected with the second synchronous wheel 15; the surface of the worm 19 is provided with a transposition mechanism which is used for replacing the crawler wheel 3 at the upper side and the lower side of the monitoring platform 1; when the crawler wheel is in operation, when the second synchronizing wheel 15 rotates, the second synchronizing wheel 15 drives the worm 19 and the fourth bevel gear 17 connected with the second synchronizing wheel to rotate, when the fourth bevel gear 17 rotates, the second bevel gear 7 is driven to rotate, and when the second bevel gear 7 rotates, the crawler wheel 3 can be driven to rotate; when the monitoring platform 1 is turned over, the crawler wheel 3 can be changed from one side of the monitoring platform 1 to the other side through the transposition mechanism, so that the turned-over monitoring platform 1 can be supported.
As a further scheme of the invention, the transposition mechanism comprises two incomplete worm gears 20, the two incomplete worm gears 20 are symmetrically distributed on the upper and lower positions of the side surface of the monitoring platform 1, and the two incomplete worm gears 20 are both in rotary connection with the monitoring platform 1; one end of a connecting rod 21 is coaxially and fixedly connected with the two incomplete worm gears 20, and the other end of the two connecting rods 21 is rotationally connected with the crawler wheel 3; the worm 19 is located between the two incomplete worm gears 20 and the worm 19 is alternately engaged with the two incomplete worm gears 20; the two links 21 are equal in length and parallel to each other; when the monitoring platform 1 is in operation, after the monitoring platform is overturned, the monitoring platform moves to a position close to the ground by driving the worm 19, when the worm 19 moves to a position meshed with the incomplete worm wheel 20 close to the ground, the incomplete worm wheel 20 at the bottom position is driven to rotate when the worm 19 rotates, the connecting rod 21 connected with the incomplete worm wheel 20 is driven to rotate when the incomplete worm wheel 20 rotates, and the connecting rod 21 can drive the crawler wheel 3 to move downwards in a vertical state through the other connecting rod 21 which is equal to the incomplete worm wheel and parallel to the incomplete worm wheel; when the incomplete worm wheel 20 is rotated to a position out of engagement with the worm wheel, the track wheel 3 is now just able to support the monitoring platform 1.
As a further scheme of the invention, the detection mechanism comprises eight threaded rods 22, the eight threaded rods 22 are uniformly distributed at four corner positions of the monitoring platform 1, and the two threaded rods 22 at the corner positions are positioned at the front side and the rear side of the worm 19; the threaded rod 22 is rotatably connected with the monitoring platform 1; the surface of the worm 19 is rotationally connected with a rotating frame 23, and the rotating frame 23 is simultaneously rotationally connected with threaded rods 22 positioned on two sides of the worm 19; the threaded rod 22 has no self-locking property, and the upper end and the lower end of the threaded rod 22 are fixedly connected with a first ratchet wheel 24; the surfaces of the two first ratchet wheels 24 on the upper side and the lower side are respectively meshed with a first pawl 25, and the rotatable directions of the first ratchet wheels 24 on the upper side and the lower side are opposite to the rotatable directions of the first pawls 25 after the first ratchet wheels 24 on the upper side and the lower side are meshed; the upper side and the lower side of the monitoring platform 1 are symmetrically provided with second sliding frames 26 at the positions of the first pawls 25, the second sliding frames 26 are fixedly connected with the two first pawls 25, and the second sliding frames 26 are in sliding connection with the monitoring platform 1; one end of a first spring 27 is fixedly connected to the surface of the second sliding frame 26, and the other end of the first spring 27 is fixedly connected with the monitoring platform 1; when in work, the threaded rod 22 does not have self-locking property, so the rotating frame 23 on the surface of the worm 19 can freely move up and down; the worm 19 and the motor 10 and the first connecting frame 12 can move up and down; when the monitoring platform 1 is overturned, the first pawl 25 at the lower side is driven to be separated from the first ratchet wheel 24 at the lower side, and meanwhile, the first pawl 25 at the upper side is driven to be meshed with the first ratchet wheel 24 at the upper side, at the moment, the sliding frame can move downwards, when moving downwards, the sliding frame can drive the threaded rod 22 to rotate, the threaded rod 22 can simultaneously drive the first ratchet wheels 24 at the upper side and the lower side to rotate, when moving to the bottommost position, the worm 19 is just meshed with the incomplete worm wheel 20 at the bottom side, the sliding frame stops moving downwards, and at the moment, the threaded rod 22 cannot rotate reversely under the action of the first pawl 25 at the upper side of the first ratchet wheel 24 at the upper side, so that the worm 19 on the surface of the sliding frame can keep a meshed state with the incomplete worm wheel 20, and when the worm wheel rotates, the incomplete worm wheel 20 can be driven to rotate.
As a further scheme of the invention, the monitoring platform 1 is positioned at the inner side of the second sliding frame 26 and is connected with two sliding rods 28 in a sliding way, the upper end and the lower end of each sliding rod 28 are fixedly connected with extrusion blocks 29, and the extrusion blocks 29 on the upper side and the lower side alternately extrude the second sliding frame 26 at the upper side and the lower side; a water pipe 30 is fixedly connected inside the extrusion block 29, the upper end and the lower end of the water pipe 30 respectively penetrate through the extrusion block 29 on the upper side and the lower side, floating balls 31 are fixedly connected to the upper end and the lower end of the water pipe 30, the floating balls 31 are hollow, and the floating balls 31 are communicated with the water pipe 30; the bottom floating ball 31 contains water and the water fills the space inside the floating ball 31; when the monitoring platform 1 is in operation, after the monitoring platform is overturned, water in the floating ball 31 flows into the lower floating ball 31 through the water pipe 30, the upper floating ball 31 moves upwards under the action of buoyancy, the upper floating ball 31 drives the slide rod 28 to slide upwards, the slide rod 28 drives the extrusion blocks 29 on the upper side and the lower side to move upwards, the extrusion blocks 29 on the lower side move upwards and then extrude the second sliding frame 26 on the lower side, so that the second sliding frame 26 on the lower side drives the first pawl 25 on the lower side to be separated from the first ratchet wheel 24 on the lower side, the extrusion blocks 29 on the upper side are separated from the second sliding frame 26 on the upper side, and the second sliding frame 26 on the upper side drives the first pawl 25 on the upper side to be meshed with the first ratchet wheel 24 on the upper side under the action of the first spring 27.
As a further scheme of the invention, the surface of the rotating frame 23 is fixedly connected with a connecting rod 32, the upper side and the lower side of the connecting rod 32 are symmetrically and slidingly connected with a first push plate 33, the upper side surface and the lower side surface of the upper side and the lower side of the first push plate 33 are respectively and fixedly connected with one end of a second spring 34, and the other end of the second spring 34 is fixedly connected with the connecting rod 32; a second ratchet wheel 35 is coaxially and fixedly connected between the incomplete worm wheel 20 and the connecting rod 21; two second pawls 38 are arranged between the upper and lower second ratchet wheels 35, the two second pawls 38 are respectively meshed with the upper and lower second ratchet wheels 35, and the directions of rotation of the upper and lower second ratchet wheels 35 and the second pawls 38 are opposite when the upper and lower second ratchet wheels 35 are meshed; the second pawls 38 on the upper side and the lower side are close to each other, one end of the telescopic rod 36 is fixedly connected with one end of the telescopic rod 36, and the other end of the telescopic rod 36 is fixedly connected with the monitoring platform 1; the surface of the second pawl 38 is fixedly connected with a second push plate 37, the distance between the second push plates 37 on the upper side and the lower side is larger than the distance between the two first push plates 33, and the second push plates 37 are attached to the first push plates 33; the telescopic rod 36 has elasticity, and the elasticity of the telescopic rod 36 is smaller than the elasticity of the first spring 27; when the monitoring platform 1 monitors normally, the worm 19 is in a state of being meshed with the incomplete worm wheel 20 at the lower side, the sliding frame on the surface of the worm 19 is also in the bottommost position, the connecting rod 32 on the surface of the sliding frame drives the first push plate 33 at the bottom position on the surface of the sliding frame to be in the bottommost position through the second spring 34 on the surface of the sliding frame, and the second push plate 37 at the bottom drives the second pawl 38 at the bottom to be meshed with the second ratchet wheel 35 at the bottom position under the action of the first push plate 33 at the bottom position; when the monitoring platform 1 is overturned, the sliding frame and the worm 19 start to move downwards, the sliding frame drives the connecting rod 32 to move downwards slowly, the second spring 34 at the upper side of the connecting rod 32 starts to reset, and the first pushing plate 33 at the upper side of the connecting rod continues to keep still; the second spring 34 at the bottom of the connecting rod 32 drives the first push plate 33 at the bottom to move downwards, the first push plate 33 pushes the second push plate 37 at the bottom to move downwards, and the second push plate 37 at the bottom drives the second pawl 38 at the bottom to be meshed with the second ratchet wheel 35 at the bottom; at this time, the carriage and the worm 19 continue to move downwards, and the crawler wheel 3 does not drop down directly because the upper second pawl 38 and the upper second ratchet 35 remain engaged at this time; when the worm 19 moves downwards to be engaged with the lower incomplete worm gear 20, the upper first push plate 33 and the second push plate 37 move to the position where the second pawl 38 is separated from the second ratchet wheel 35, and the upper second ratchet wheel 35 is directly separated from the upper second ratchet wheel 35 under the action of the telescopic rod 36; then, the crawler wheel 3 can be driven to slowly move downwards under the action of the worm 19, the monitoring platform 1 is supported, and the water around the monitoring platform 1 can be effectively prevented from becoming turbid through the slowly downward movement of the crawler wheel 3.
Claims (8)
1. The utility model provides a long submarine environment mobile monitoring platform that resides in deep sea, includes monitoring platform (1), its characterized in that: two fixing frames (2) are symmetrically and fixedly connected to the left side and the right side of the surface of the monitoring platform (1), and crawler wheels (3) are symmetrically arranged on the left side and the right side of the monitoring platform (1); a first driving mechanism is arranged in the fixed frame (2) and is used for driving the crawler wheel (3) to rotate; an inner cavity (4) is formed in the monitoring platform (1), a detection mechanism and a second driving mechanism are arranged in the inner cavity (4), and the detection mechanism is used for detecting whether the monitoring platform (1) is overturned or not; the second driving mechanism is used for driving the first driving mechanism to operate, and after the detecting mechanism detects that the monitoring platform (1) is overturned, the crawler wheels (3) on the left side and the right side are driven to move to a position close to the ground, and finally the monitoring platform (1) is supported.
2. The deep-sea long-standing submarine environment mobile monitoring platform according to claim 1, wherein: the first driving mechanism comprises a rotating rod (5), the rotating rod (5) is positioned in the fixed frame (2), and the upper end and the lower end of the rotating rod (5) are symmetrically and fixedly connected with a first bevel gear (6); the middle part of the rotating rod (5) is fixedly connected with a second bevel gear (7); the upper end and the lower end of the rotating rod (5) are symmetrically and rotatably connected with a first sliding frame (8), and the first sliding frame (8) is in sliding connection with the fixed frame (2); the rotating shafts on the front side and the rear side of the inside of the crawler wheel (3) are coaxially and fixedly connected with third bevel gears (9), and the third bevel gears (9) on the front side and the rear side are respectively meshed with first bevel gears (6) on the front side and the rear side.
3. The deep-sea long-standing submarine environment mobile monitoring platform according to claim 2, wherein: the second driving mechanism comprises two motors (10) and two fixing frames (11), the two fixing frames (11) are distributed at the left side and the right side of the middle of the inner cavity (4), and the two fixing frames (11) are fixedly connected with the inner wall of the inner cavity (4); the two motors (10) are respectively connected with the two fixing frames (11) in a sliding manner; the surface of the motor (10) is fixedly connected with a first connecting frame (12), the left end of an output shaft of the left motor (10) and the right end of the output shaft of the right motor (10) are fixedly connected with a first synchronous wheel (13), and the surface of the first synchronous wheel (13) is provided with a synchronous belt (14); the front side and the rear side of the surface of the first connecting frame (12) are symmetrically and rotationally connected with second synchronous wheels (15), and the synchronous belt (14) is simultaneously rotationally connected with the first synchronous wheels (13) and the two second synchronous wheels (15).
4. A deep sea long residence type submarine environment mobile monitoring platform according to claim 3, wherein: a groove (16) is formed in one side, close to the monitoring platform (1), of the surface of the fixed frame (2), a fourth bevel gear (17) is arranged in the groove (16), a second connecting frame (18) is rotatably connected to the surface of the fourth bevel gear (17), and the second connecting frame (18) is rotatably connected with the rotating rod (5); the fourth bevel gear (17) is meshed with the second bevel gear (7), one end of the fourth bevel gear (17) close to one end of the monitoring platform (1) is fixedly connected with one end of the worm (19), and the other end of the worm (19) is fixedly connected with the second synchronous wheel (15); the surface of the worm (19) is provided with a transposition mechanism which is used for replacing the positions of the upper side and the lower side of the monitoring platform (1) of the crawler wheel (3).
5. The deep-sea long-resident submarine environment mobile monitoring platform according to claim 4, wherein: the transposition mechanism comprises two incomplete worm gears (20), the two incomplete worm gears (20) are symmetrically distributed on the upper and lower positions of the side surface of the monitoring platform (1), and the two incomplete worm gears (20) are both in rotary connection with the monitoring platform (1); one end of a connecting rod (21) is coaxially and fixedly connected with the two incomplete worm gears (20), and the other ends of the two connecting rods (21) are rotationally connected with the crawler wheel (3); the worm (19) is positioned between the two incomplete worm gears (20) and the worm (19) is alternately meshed with the two incomplete worm gears (20); the two connecting rods (21) are equal in length and parallel to each other.
6. The deep-sea long-resident type submarine environment mobile monitoring platform according to claim 5, wherein: the detection mechanism comprises eight threaded rods (22), the eight threaded rods (22) are uniformly distributed at four corner positions of the monitoring platform (1), and the two threaded rods (22) at the corner positions are positioned at the front side and the rear side of the worm (19); the threaded rod (22) is rotationally connected with the monitoring platform (1); the surface of the worm (19) is rotationally connected with a rotating frame (23), and the rotating frame (23) is simultaneously rotationally connected with threaded rods (22) positioned at two sides of the worm (19); the threaded rod (22) does not have self-locking property, and the upper end and the lower end of the threaded rod (22) are fixedly connected with first ratchet wheels (24); the surfaces of the two first ratchet wheels (24) on the upper side and the lower side are respectively meshed with a first pawl (25), and the rotatable directions of the first ratchet wheels (24) on the upper side and the lower side are opposite to those of the first pawls (25) after the first ratchet wheels are meshed; the upper side and the lower side of the monitoring platform (1) are symmetrically provided with second sliding frames (26) at the positions of the first pawls (25), the second sliding frames (26) are fixedly connected with the two first pawls (25), and the second sliding frames (26) are in sliding connection with the monitoring platform (1); one end of a first spring (27) is fixedly connected to the surface of the second sliding frame (26), and the other end of the first spring (27) is fixedly connected with the monitoring platform (1).
7. The deep-sea long-resident type submarine environment mobile monitoring platform according to claim 6, wherein: the monitoring platform (1) is positioned at the inner side of the second sliding frame (26) and is connected with two sliding rods (28) in a sliding manner, the upper end and the lower end of each sliding rod (28) are fixedly connected with extrusion blocks (29), and the extrusion blocks (29) on the upper side and the lower side alternately extrude the second sliding frame (26) on the upper side and the lower side; the inside of the extrusion block (29) is fixedly connected with a water pipe (30), the upper end and the lower end of the water pipe (30) respectively penetrate through the extrusion block (29) on the upper side and the lower side, the upper end and the lower end of the water pipe (30) are fixedly connected with floating balls (31), the floating balls (31) are hollow, and the floating balls (31) are communicated with the water pipe (30); the floating ball (31) at the bottom position contains water and the water fills the space inside the floating ball (31).
8. The deep-sea long-resident type submarine environment mobile monitoring platform according to claim 6, wherein: the surface of the rotating frame (23) is fixedly connected with a connecting rod (32), the upper side and the lower side of the connecting rod (32) are symmetrically and slidingly connected with a first push plate (33), the upper side surface and the lower side surface of the first push plate (33) on the upper side and the lower side are respectively fixedly connected with one end of a second spring (34), and the other end of the second spring (34) is fixedly connected with the connecting rod (32); a second ratchet wheel (35) is coaxially and fixedly connected between the incomplete worm wheel (20) and the connecting rod (21); two second pawls (38) are arranged between the second ratchet wheels (35) at the upper side and the lower side, the two second pawls (38) are respectively meshed with the second ratchet wheels (35) at the upper side and the lower side, and the directions of rotation of the second ratchet wheels (35) at the upper side and the lower side are opposite when the second ratchet wheels (38) are meshed with the second pawls; one end, close to one end, of each second pawl (38) on the upper side and the lower side is fixedly connected with one end of a telescopic rod (36), and the other end of the telescopic rod (36) is fixedly connected with the monitoring platform (1); the surface of the second pawl (38) is fixedly connected with a second push plate (37), the distance between the second push plates (37) on the upper side and the lower side is larger than the distance between the two first push plates (33), and the second push plates (37) are attached to the first push plates (33); the telescopic rod (36) has elasticity, and the elasticity of the telescopic rod (36) is smaller than the elasticity of the first spring (27).
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| CN202310484516.7A CN116198703B (en) | 2023-05-04 | 2023-05-04 | Deep sea long residence type submarine environment mobile monitoring device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116605386A (en) * | 2023-07-17 | 2023-08-18 | 国家深海基地管理中心 | Underwater movable observation platform and application method thereof |
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| CN116198703B (en) | 2023-08-08 |
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